College of Mechanical, Taiyuan University of Technology
Shanxi Key Laboratory of Fully-Mechanized Coal MiningEquipment, Taiyuan University of Technolgy

近年来,因煤矿井下特殊的工作环境,煤矿井下机器人成为各国研发人员关注的焦点。四足机器人作为机器人中的一种,因其简单结构和高适应能力,得到了国内外大量关注。为了辅助工人在井下工作,完成危险的工作任务,进行了面向煤矿井下巡检、搬运等复杂任务的四足机器人系统设计。首先完成相关基础理论分析,包括四足机器人本体设计、四足机器人运动学建模以及四足机器人静步态规划;其次,对面向煤矿井下复杂作业场景的多功能机器人的自主感知、自主决策、自主控制相关关键技术进行了研究;最后构建了四足机器人虚拟仿真规划系统、四足机器人虚拟监控系统以及四足机器人物理系统。制作了四足机器人实体样机,并完成系统集成试验。结果表明:四足机器人结构合理、功能完善,具有对井下复杂地质条件的良好适应能力,能够在井下未知环境中完成环境感知与自适应避障行走,并且能够完成复杂工作。虚拟仿真规划系统为机器人的自主执行提供信息与参考,虚拟监控系统为机器人提供三维的运行状态监测以及远程可视的人机交互接口。虚拟维度的设计为井下复杂作业提供了数字孪生平台支撑和解决方案,对煤矿智能化和无人化的开采有一定的积极作用。

In recent years, due to the special working environment in coal mine, coal mine underground robot has becomethe focus of R&D personnel all over the world. As a kind of robot, quadruped robot has attracted a lot of attention at homeand abroad because of its simple structure and high adaptability. In order to assist people to work underground and com-plete dangerous tasks, a quadruped robot system for complex tasks such as underground inspection and handling in coalmine is designed. Firstly, complete the relevant basic theoretical analysis, including quadruped robot body design, quad-ruped robot kinematics modeling and quadruped robot static gait planning; Secondly, the key technologies related toautonomous perception, autonomous decision-making and autonomous control of multi-functional special quadruped ro-bot in coal mine are studied; Finally, the virtual simulation planning system of quadruped robot, the virtual monitoring sys-tem of quadruped robot and the physical system of quadruped robot are constructed. The solid prototype of quadruped ro-bot is made, and the system integration test is completed. The results show that the quadruped robot has reasonable struc-ture and perfect function, has good adaptability to complex geological conditions underground, can complete environment-al perception and adaptive obstacle avoidance walking in unknown underground environment, and can complete complexwork. The virtual simulation planning system provides information and reference for the autonomous execution of the ro-bot, and the virtual monitoring system provides three-dimensional running state monitoring and remote visual human-com-puter interaction interface for the robot. The design of virtual dimension provides digital twin platform support and solu-tion for underground complex operation, and plays a positive role in intelligent and unmanned mining of coal mine.

国家自然科学基金(52474178);中央引导地方科技发展资金资助项目(YDZJSX2022A014);山西省科技重大专项揭榜挂帅资助项目(202301010101002)

谢嘉成,张佳鹏,刘曙光,等.基于数字孪生的多功能煤矿四足机器人实验系统设计[J].绿色矿山,2024,2(4):457−470.

XIE Jiacheng,ZHANG Jiapeng,LIU Shuguang,et al. Design and verification of a multifunctional coal minequadruped robot system based on digital twin[J]. Journal of Green Mine,2024,2(4):457−470.